Kinematics-Inertial Fusion for Localization of a 4-Cable Underactuated Suspended Robot Considering Cable Sag
Eren Allak,Rooholla Khorrambakht,Christian Brommer,Stephan Weiss,Eren Allak,Rooholla Khorrambakht,Christian Brommer,Stephan Weiss
Suspended Cable-Driven Parallel Robots (SCDPR) have intriguing capabilities on large scales but still have open challenges in precisely estimating the end-effector pose. The cables exhibit a downward curved shape, also known as cable sag which needs to be accounted for in the pose estimation. The catenary equations can accurately describe this phenomenon but are only accurate in equilibrium condit...
